<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Cheetah Software: CollisionPlane.h Source File</title>
<link href="../../tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../jquery.js"></script>
<script type="text/javascript" src="../../dynsections.js"></script>
<link href="../../navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../resize.js"></script>
<script type="text/javascript" src="../../navtreedata.js"></script>
<script type="text/javascript" src="../../navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="../../search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../search/searchdata.js"></script>
<script type="text/javascript" src="../../search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="../../doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Cheetah Software
   &#160;<span id="projectnumber">1.0</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "../../search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="../../index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="../../namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="../../annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="../../files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="../../search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="../../search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="../../files.html"><span>File&#160;List</span></a></li>
      <li><a href="../../globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('d2/daf/_collision_plane_8h_source.html','../../');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">CollisionPlane.h</div>  </div>
</div><!--header-->
<div class="contents">
<a href="../../d2/daf/_collision_plane_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#ifndef COLLISIONPLANE_H</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define COLLISIONPLANE_H</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d87/_collision_8h.html">Collision/Collision.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="../../d4/d38/class_collision_plane.html">   18</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d4/d38/class_collision_plane.html">CollisionPlane</a> : <span class="keyword">public</span> <a class="code" href="../../df/dc6/class_collision.html">Collision</a>&lt;T&gt; {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="../../d4/d38/class_collision_plane.html#aa09221481583852c037790ad52b831b0">   32</a></span>&#160;  <a class="code" href="../../d4/d38/class_collision_plane.html#aa09221481583852c037790ad52b831b0">CollisionPlane</a>(<span class="keyword">const</span> T&amp; mu, <span class="keyword">const</span> T&amp; restitution, <span class="keyword">const</span> T&amp; height)</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      : <a class="code" href="../../df/dc6/class_collision.html">Collision</a>&lt;T&gt;(mu, restitution), <a class="code" href="../../d4/d38/class_collision_plane.html#a2d9dad58d31ce2cb002fd8969f68896d">_height</a>(height) {}</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="../../d4/d38/class_collision_plane.html#a89cd495c2880b36264977caf0cf2d23f">   35</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="../../d4/d38/class_collision_plane.html#a89cd495c2880b36264977caf0cf2d23f">~CollisionPlane</a>() {}</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="../../d4/d38/class_collision_plane.html#a6a1c67be65bad71b08acef18958bb59c">ContactDetection</a>(<span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; cp_pos, T&amp; penetration,</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;                                <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a>&amp; cp_frame);</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="../../d4/d38/class_collision_plane.html#a2d9dad58d31ce2cb002fd8969f68896d">   41</a></span>&#160;  T <a class="code" href="../../d4/d38/class_collision_plane.html#a2d9dad58d31ce2cb002fd8969f68896d">_height</a>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;};</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#endif  // COLLISION_PLANE_H</span></div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_collision_plane_html"><div class="ttname"><a href="../../d4/d38/class_collision_plane.html">CollisionPlane</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/daf/_collision_plane_8h_source.html#l00018">CollisionPlane.h:18</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="class_collision_plane_html_aa09221481583852c037790ad52b831b0"><div class="ttname"><a href="../../d4/d38/class_collision_plane.html#aa09221481583852c037790ad52b831b0">CollisionPlane::CollisionPlane</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionPlane(const T &amp;mu, const T &amp;restitution, const T &amp;height)</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/daf/_collision_plane_8h_source.html#l00032">CollisionPlane.h:32</a></div></div>
<div class="ttc" id="_collision_8h_html"><div class="ttname"><a href="../../d9/d87/_collision_8h.html">Collision.h</a></div><div class="ttdoc">Virtual class of Collision logic. </div></div>
<div class="ttc" id="class_collision_plane_html_a2d9dad58d31ce2cb002fd8969f68896d"><div class="ttname"><a href="../../d4/d38/class_collision_plane.html#a2d9dad58d31ce2cb002fd8969f68896d">CollisionPlane::_height</a></div><div class="ttdeci">T _height</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/daf/_collision_plane_8h_source.html#l00041">CollisionPlane.h:41</a></div></div>
<div class="ttc" id="class_collision_plane_html_a89cd495c2880b36264977caf0cf2d23f"><div class="ttname"><a href="../../d4/d38/class_collision_plane.html#a89cd495c2880b36264977caf0cf2d23f">CollisionPlane::~CollisionPlane</a></div><div class="ttdeci">virtual ~CollisionPlane()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/daf/_collision_plane_8h_source.html#l00035">CollisionPlane.h:35</a></div></div>
<div class="ttc" id="class_collision_html"><div class="ttname"><a href="../../df/dc6/class_collision.html">Collision</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d87/_collision_8h_source.html#l00017">Collision.h:17</a></div></div>
<div class="ttc" id="class_collision_plane_html_a6a1c67be65bad71b08acef18958bb59c"><div class="ttname"><a href="../../d4/d38/class_collision_plane.html#a6a1c67be65bad71b08acef18958bb59c">CollisionPlane::ContactDetection</a></div><div class="ttdeci">virtual bool ContactDetection(const Vec3&lt; T &gt; &amp;cp_pos, T &amp;penetration, Mat3&lt; T &gt; &amp;cp_frame)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d05/_collision_plane_8cpp_source.html#l00010">CollisionPlane.cpp:10</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="../../dir_43e0a1f539e00dcfa1a6bc4d4fee4fc2.html">home</a></li><li class="navelem"><a class="el" href="../../dir_61bfb0b3cdda81b1b0355ba34eb3b1eb.html">dhkim</a></li><li class="navelem"><a class="el" href="../../dir_adee5b101e079090017bb4e91c628ead.html">Public_Repository</a></li><li class="navelem"><a class="el" href="../../dir_7fc07a7b97001e7b1d18e11da761e2de.html">Cheetah-Software</a></li><li class="navelem"><a class="el" href="../../dir_860379c26524a894b3cf97b5b1ba5bdb.html">common</a></li><li class="navelem"><a class="el" href="../../dir_275ce76ae8a9e2090fbb7142d3994a0e.html">include</a></li><li class="navelem"><a class="el" href="../../dir_9f3746ebe7983c5cb005f7fd6ef8aef4.html">Collision</a></li><li class="navelem"><a class="el" href="../../d2/daf/_collision_plane_8h.html">CollisionPlane.h</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="../../doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
